Apparatus and method for intrabody mapping

ABSTRACT

This invention concerns an apparatus and method for the treatment of cardiac arrhythmias. More particularly, this invention is directed to a method for ablating a portion of an organ or bodily structure of a patient, which comprises obtaining a perspective image of the organ or structure to be mapped; advancing one or more catheters having distal tips to sites adjacent to or within the organ or structure, at least one of the catheters having ablation ability; sensing the location of each catheter&#39;s distal tip using a non-ionizing field; at the distal tip of one or more catheters, sensing local information of the organ or structure; processing the sensed information to create one or more data points; superimposing the one or more data points on the perspective image of the organ or structure; and ablating a portion of the organ or structure.

RELATED PATENT APPLICATION

This application is a continuation of application Ser. No. 08/311,598,filed Sep. 23, 1994 now abandoned which is a divisional of U.S. patentapplication Ser. No. 08/094,539, filed Jul. 20, 1993 now U.S. Pat. No.5,391,199.

FIELD OF THE INVENTION

This invention is directed to an apparatus and method for treating acardiac arrhythmia such as ventricular tachycardia. More particularly,this invention is directed to an improved apparatus and method wherebythere is faster identification of an active site to be ablated.

BACKGROUND OF THE INVENTION

Cardiac arrhythmias are the leading cause of death in the United States.The most common cardiac arrhythmia is ventricular tachycardia (VT),i.e., very rapid and ineffectual contractions of the heart muscle. VT isthe cause death of approximately 300,000 people annually.

In the United States, from 34,000 to 94,000 new patients are diagnosedannually with VT. Patients are diagnosed with VT after either (1)surviving a successful resuscitation after an aborted sudden death(currently 25-33% of sudden death cases) or (2) syncope, i.e., temporaryloss of consciousness caused by insufficient cerebral circulation. Thenumber of VT patients is expected to increase in the future, estimatedto range between 61,000 and 121,000 patients annually in five years, asa result of early detection of patients at risk for sudden death bynewly developed cardiac tests, advances in cardiopulmonaryresuscitation, better medical management of acute myocardial infarctionpatients, and the demographic shift to a more aged population.

Without proper treatment most patients diagnosed with VT do not survivemore than two years. The most frequent current medical treatmentconsists of certain antiarrhythmic drugs or implantation of an automaticimplantable cardiac defibrillator (AICD). Drug treatment is associatedwith an average life span of 3.2 years, a 30% chance of debilitatingside effects, and an average cost of approximately $88,000 per patient.In contrast, AICD implantation is associated with a life expectancy of5.1 years, a 4% chance of fatal complications, and a cost ofapproximately $121,000 per patient.

In a majority of patients VT originates from a 1 to 2 mm lesion that islocated close to the inner surface of the heart chamber. A treatment ofVT in use since 1981 comprises a method whereby electrical pathways ofthe heart are mapped to locate the lesion, i.e., the "active site," andthen the active site is physically ablated. In most instances themapping and ablation are performed while the patient's chest and heartare open. Also, the mapping procedure has been carried out bysequentially moving a hand-held electrical recording probe or catheterover the heart and recording the times of arrival of electrical pulsesto specific locations. These processes are long and tedious.

Attempts to destroy, i.e., ablate, the critical lesion are now quitesuccessful, but are currently limited to a small number of patients whocan survive a prolonged procedure during which they have to remain in VTfor almost intolerable periods of time. The time-consuming part of thetreatment is the localization, i.e., identifying the site, of the targetlesion to be ablated. Another limitation preventing the widespread useof catheter ablation for VT is poor resolution of target localization,which in turn compels the physician to ablate a large area of thepatient's heart. The reduction in heart function following such ablationbecomes detrimental to most patients with pre-existing cardiac damage.However, once the target is correctly identified, ablation is successfulin almost all patients.

An improved procedure for treatment of VT must include a faster, moreefficient and accurate technique for identifying, or "mapping", theelectrical activation sequence of the heart to locate the active site.

In electrophysiologic examinations, and in particular in those usinginvasive techniques, so-called electrical activation mapping isfrequently used in combination with an x-ray transillumination. Thelocal electrical activity is sensed at a site within a patient's heartchamber using a steerable catheter, the position of which is assessed bytransillumination images in which the heart chamber is not visible.Local electrical activation time, measured as time elapsed from a commonreference time event of the cardiac cycle to a fiducial point during theelectrical systole, represents the local information needed to constructthe activation map data point at a single location. To generate adetailed activation map of the heart, several data points are sampled.The catheter is moved to a different location within the heart chamberand the electrical activation is acquired again, the catheter isrepeatedly portrayed in the transillumination images, and its locationis determined. Currently catheter location is determined qualitativelyor semi-qualitatively by categorizing catheter location to one ofseveral predetermined locations. Furthermore, the transilluminationmethod for locating the catheter does not convey information regardingthe heart chamber architecture.

The present technique requires the use of a transillumination meansduring each of the subsequent catheter employments. This means that ifthe subsequent catheter locating is achieved by ionizing radiation, thepatient and the physician must be subjected to a radiation exposurebeyond that which would be required only for producing the basic imageof the heart chamber architecture.

A catheter which can be located in a patient using an ultrasoundtransmitter allocated to the catheter is disclosed in U.S. Pat. No.4,697,595 and in the technical note "Ultrasonically marked catheter, amethod for positive echographic catheter position identification."Breyer et al., Medical and Biological Engineering and Computing. May,1985, pp. 268-271. Also, U.S. Pat. No. 5,042,486 discloses a catheterwhich can be located in a patient using non-ionizing fields andsuperimposing catheter location on a previously obtained radiologicalimage of a blood vessel. There is no discussion in either of thesereferences as to the acquisition of a local information, particularlywith electrical activation of the heart, with the locatable catheter tipand of possible superimposition of this local information acquired inthis manner with other images, particularly with a heart chamber image.

OBJECTS OF THE INVENTION

It is an object of the present invention to provide an alternativemethod for the permanent portrayal of the catheter during mappingprocedures by a method making use of non-ionizing rays, waves or fields,and thus having the advantage of limiting the radiation exposure for thepatient and the physician.

It is also an object of the invention to provide a catheter locatingmeans and method that will offer quantitative, high-resolution locatinginformation that once assimilated with the sensed local informationwould result a high-resolution, detailed map of the informationsuperimposed on the organ architecture.

It is a further object of the present invention to provide a mappingcatheter with a locatable sensor at its tip.

These and other objects of the invention will become more apparent fromthe discussion below.

BRIEF DESCRIPTION OF THE DRAWINGS

FIG. 1 is a schematic block diagram for acquiring a basic image;

FIG. 2 is a schematic block diagram representing a computerizedendocardial mapping algorithm;

FIG. 3 is a schematic block diagram representing a computerized pacemapping algorithm;

FIG. 4 is a schematic block diagram representing output deviceconfiguration of an embodiment of the invention;

FIG. 5 is a schematic block diagram for illustrating the mappingcatheter with the sensor at its tip and a locating method in accordancewith the principles of the present invention making use of atransmitting antenna at the catheter tip;

FIG. 6 is a schematic block diagram representing use of the inventionfor pace mapping;

FIG. 7 is a schematic block diagram representing the algorithm used tocalculate the cross-correlation index while pace-mapping;

FIG. 8A is a diagram representing the catheter used for mappingarrhythmias;

FIGS. 8B and 8C represent enlarged sections of the distal and proximalportions, respectively, of the catheter of FIG. 8A.

FIGS. 9 and 10 are each a schematic block diagram representing an aspectof the invention.

SUMMARY OF THE INVENTION

A trackable mapping/ablation catheter, for use with reference cathetersin a field such as an electromagnetic or acoustic field, has (i) atransmitting or receiving antenna for the relevant field within its tip,(ii) a sensor at its tip for acquiring local information such aselectrical potentials, chemical concentration, temperature, and/orpressure, and (iii) an appropriate port for delivering energy to tissue.Receiving or transmitting antennas for the respective field are attachedto the patient in which the catheter is disposed. A receiver ortransmitter is connected to these antennas and converts the field wavesreceived into electrical locating or image signals. The sensed localinformation of each site can be portrayed on a display at the respectivelocations and combined with an image of the structure acquired in adifferent manner such as by x-ray, NMR, or ultrasound. The resultinginformation can be used to map the electrical pathways of the heart todetermine the situs of a lesion to be ablated.

DETAILED DESCRIPTION OF THE INVENTION

The above objects of the invention are achieved in a method forreal-time portrayal of a catheter in the heart chamber, which makes useof a transmitter for electromagnetic or acoustic waves located at thetip of a catheter, these waves being acquired by a receiving antennaattached to the patient and being converted into electrical imagesignals. The image of the catheter can then be superimposed on a heartchamber image disclosing wall architecture acquired by same or othermeans of imaging. In an alternative embodiment, the catheter tip may bea receiving antenna, and the externally applied antennas may betransmitting antennas. The sensor in the catheter tip is designed toacquire the information of interest, and the acquisition of localactivity at sites located by the tracking methods is used to map theorgan under study.

The aforementioned known electromagnetic or acoustic technology permitsa simple portrayal of the catheter, because the catheter differs greatlyfrom its environment (biological tissue) with respect to the interactionof x-rays. The catheter locating technique can be employed with animaging method and with a corresponding, real-time imaging system whichmakes use of non-ionizing radiation. The non-x-ray image which portraysthe catheter can be combined with an image disclosing heart chamberarchitecture acquired in an appropriate way. The problem of excessradiation exposure is thus overcome; however, the demands made on thenon-ionizing imaging system with respect to its applicability andresolution are rather high.

A further possibility, therefore, is to use the non-ionizing field aspart of a locating method, as opposed to an imaging method. Locatingmethods differ from imaging methods in the following ways: Imagingmethods are primarily used to topically correctly portray and resolve anumber of subjects or subject points within an image within specificlimits. This property is known as the multi-target capability in radartechnology and is not present in locating methods. Locating methodsoperate precisely and unambiguously only in the case wherein a singlesubject is to be portrayed, i.e., to be located. As an example, thecatheter tip is a suitable subject point. The advantage of the locatingmethod is that wave fields can be used wherein the employed wave-length,which is defined by the frequency and phase velocity of the surroundingmedium (tissue), can be relatively high, and need not be on the order ofmagnitude of the locating precision. As is known, range decreasesgreatly with increasing frequency given non-ionizing waves, such aselectromagnetic waves and acoustic waves.

It is thus possible, given the use of a locating method, to make use ofrelatively long wavelengths, and thus lower frequencies. Moreover, theoutlay for signal bandwidth and aperture is much smaller in locatingmethods than in imaging methods, particularly in view of the spectral(signal) and spatial (aperture) occupation density. It is sufficient tobring the subject point to be located into interaction with only a fewextracorporeal aperture support points, for example, three to fivetransmitters or receivers, given a few discreet frequencies, forexample, three to five frequencies. On the basis of this interaction,ranges or range differences with reference to the subject position andthe various aperture supporting points, the combination of which makesan unambiguous and exact positional identification (locating) of thesubject point possible, are determined by measuring phase relationshipsor transit time relationships. The subject point, i.e., the cathetertip, must be marked for this purpose in a suitable manner.

As in conventional pathfinder technology, it is necessary that thecatheter image and the heart chamber image be combined with each otherin a proper three-dimensional correspondence, and it is also necessarythat the heart chamber architecture does not displace or deform duringthe treatment. To correct for displacement of the heart chamber thatoccurs during the cardiac cycle the catheter location is sampled at asingle fiducial point during the cardiac cycle. To correct fordisplacement of the heart chamber that may occur because of breathing orpatient movement, a set of more than two locatable catheters is placedat specific points in the heart chamber during the mapping procedures.The location of these reference catheters supplies the necessaryinformation for proper three-dimensional correspondence of the heartchamber image and the mapping catheter location.

The above principles can be applied for mapping other structures of thebody, for example, of the urinary bladder, brain, or gastrointestinaltract. Dependent upon the examination technique, the catheter may bereplaced by a needle whose tip is the locatable sensor port.

In a broader perspective the invention encompasses four aspects: thefirst is intended to process locating information; the second processessensed electrical information; the third integrates previously processedinformation; and the fourth processes the integrated information togenerate a topographical map of the sensed variable. These aspects aredescribed in more detail below.

Catheters will be introduced percutaneously into the heart chambers.Each catheter will be trackable (using the previously describedmethodology). Preferably three reference catheters will be left in knownlandmarks, and a fourth catheter will be used as the mapping/ablationcatheter. The locations of the three reference catheters will be used toalign the location of the heart chamber relative to its location on the"basic image."

1. Image and Location Processor

Image acquisition: A method and device to acquire images of the heartchambers from available imaging modalities (e.g., fluoroscopy, echo,MRI, etc.). The image is to be acquired with sufficient projections(e.g., bi-plane fluoroscopy, several longitudinal or transversecross-sections of echocardiography) to be able to perform 3-dimensionalreconstructions of the cardiac chambers' morphology.

Images will be acquired at specific times during the ablation procedure:the basic image will be recorded at the beginning of the procedure toallow determination of the cardiac chamber anatomy and of the positionsof reference catheters in the heart. This image will be used thereafteras the basic source of information to describe the heart chambermorphology.

The image and location processor identifies (i) the location of chamberboundaries using the methods of edge enhancement and edge detection,(ii) catheter locations relative to the chamber boundaries, and (iii)the dynamics of chamber morphology as a function of the cardiac cycle.

By analyzing the displacement of the catheter tips during the cardiaccycle the image processor will calculate the regional contractileperformance of the heart at a given moment during the mapping/ablationprocedure. This information will be used to monitor systolic contractilefunctions before and after the ablation procedure.

The location processor identifies the locations of catheters. Thelocations of the reference catheters are used to align the currentposition of the heart chamber with that of the "basic image." Oncecurrent location data is aligned with the "basic image," location of themapping and ablation catheter is identified and reported.

2. Electrophysiologic (EP) Processor

The electrophysiologic signal processor will acquire electricalinformation from one or more of the following sources:

A. ECG tracings (by scanning the tracing);

B. Body surface ECG recordings, either from a 12-lead system (X,Y,Zorthogonal lead system) or from a modified combination of other pointson the patient's torso; and

C. Intra-cardiac electrograms, from the ablation/recording catheter,and/or from a series of fixed catheters within the heart chambers.

At each of the mapping/ablation stages, namely, sinus rhythm mapping,pace mapping and VT mapping, the EP processor will determine the localactivation time relative to a common fiducial point in time. The localactivation time recorded at each stage will furnish part of theinformation required to construct the activation map (isochronous map).

The electrophysiologic processor will also perform the following signalprocessing functions:

2.A. Origin Site Determination

Determine the most likely origin site of the patient's arrhythmia basedupon the body surface ECG tracings during VT. The most likely VT originsite will be detected by analyzing the axis and bundle morphology of theECG, and by using the current knowledge of correlation between VTmorphology and VT origin site.

2.B. Sinus Rhythm Mapping

2.B.1 Delayed Potential Mapping

Using intracardiac electrograms recorded from the mapping catheter tipduring sinus rhythm the EP processor will detect and then measure thetime of occurrence of delayed diastolic potentials. Detection of latediastolic activity either by (1) ECG signal crossing a threshold valueduring diastole; or by (2) modelling the electrical activity at auser-defined normal site and then comparing the modelled signal with theactual signal, and estimating the residual from the normal activity; orby (3) using a band pass filter and searching for specific organizedhigh-frequency activities present during diastole; or by (4) usingcross-correlation and error function to identify the temporal positionof a user-defined delayed potential template. This analysis will beperformed on a beat-by-beat basis, and its results will be available tothe next stage of data processing and referred to as the time of delayedpotential occurrence.

2.C. Pace Mapping

2.C.1 Correlation Map

In a "pace mapping mode" the ECG processor will acquire ECG data whilethe patient's heart is paced by an external source at a rate similar tothe patient's arrhythmia cycle length. The ECG data will be acquiredfrom the body surface electrograms, and the signal will be stored as asegment of ECG with a length of several cycles. The signal acquired willthen be subjected to automatic comparison with the patient's own VTsignal (see FIG. 7). The comparison between arrhythmia morphology andpaced morphology will be performed in two stages: First, the phase shiftbetween the template VT signal and the paced ECG morphology would beestimated using minimal error or maximal cross-correlation for twosignals. Then, using this phase shift estimated from an index ECGchannel, the similarity of the VT and the paced ECG morphology will bemeasured as the average of the cross-correlation or the square error ofthe two signals of all channels recorded.

This two-stage calculation will be repeated each time using a differentECG channel as the index channel for determining the phase shift.

At the end of this procedure the minimal error or the maximalcross-correlation found will be reported to the operator as across-correlation value (ACI) of this pacing site.

2.C.2 Local Latency

The ECG processor will measure the pacing stimulus to ventricularactivation. The earliest ventricular activation will be measured fromthe earliest zero crossing time of the first derivative signal generatedfrom each of the body surface ECG recordings acquired while pacing. Thisinterval will be reported to the operator and will be later used in theprocess of judging the suitability of the site for ablation.

2.D. VT Mapping

2.D.1 Pre-potential Map

During spontaneous or induced VT the ECG processor will search for apre-potential present on the mapping/ablation electrode electrogram. Thepotential will be marked either automatically (by a threshold crossingmethod, by band pass filtering, or by modelling normal diastolicinterval and subtracting the template from the actual diastolic intervalrecordings) or manually by the user-defined fiducial point on thepre-potential signal. The processor will measure the interval betweenthe time of the pre-potential (PP) signal and that of the earliestventricular (V) activation as recorded from the body surface tracings,and the interval will be calculated and reported to the user. The ECGprocessor will report on a beat-by-beat basis the value of the PP-Vinterval.

2.D.2 Premature Stimuli Local Latency

During VT, when premature extrastimuli will be delivered to the mappingcatheter, the ECG processor will detect the time of a single prematuresignal delivered to the mapping/ablation catheter and the earliest localactivation (judged by the presence of non-diastolic activity following apredetermined interval at the mapping/ablation catheter and the presenceof a different signal morphology shape and value at the body surfaceelectrograms when compared to their value at one cycle length beforethat event). The presence of electrical activity on the mapping/ablationelectrode and the presence of an altered shape of the body surfacemorphology will be termed as a captured beat. In the presence of acaptured beat the ECG processor will calculate the intervals between thestimulus and the preceding earliest ventricular activation (termed V-S)and the interval between the stimulus and the following earliestactivation of the ventricle (termed S-V'). The ECG processor will reportthese intervals to the user after each extrastimulus delivered. Also,the intervals V-S and S-V' will be graphically plotted as a functiondescribing their dependence. The ECG processor will update the plotafter each extrastimulus.

2.D.3 Phase Shifting of VT by Premature Stimuli

The ECG processor will identify the effects of the extrastimulus on thephase shifting of the VT as recorded by body surface electrograms. Auser-defined body surfaced channel electrogram of non-paced VTmorphology will be used as a template (segment length equal to twice VTcycle length), and the electrogram of the same channel acquired for thesame duration following the delivery of an extrastimulus during VT willbe used as a test segment. The ECG analyzer will compare the templateand the test signal morphologies (using minimal error function ormaximal cross correlation) to assure that the VT was not terminated oraltered. If VT persists, the ECG analyzer will calculate the phase shiftcaused by the extrastimulus. Phase shift will be calculated as a part ofthe VT cycle length needed to be added or subtracted to regularize theVT time series.

2.D.4 VT Termination by Premature Stimuli

The ECG processor will look for a non-capture event following theextrastimulus. In that event the ECG processor will look for alterationin the VT following the extrastimulus delivered. If the VT wasterminated (as defined by returning to normal ECG morphology and rate),a note of non-capture termination will be generated by the ECGprocessor. In case there was no capture but VT morphology did notchange, the operator will be notified to change the coupling intervalfor the coming extrastimuli.

3. Image, Catheter Location and Electrophysiologic InformationIntegrator

This processor will receive information from the devices describedearlier and will attribute the processed electrical information to thespecific locations of the heart chamber from which it was recorded. Thisprocess will be performed in real time and transferred to the nextprocessor.

Processed electrical information, when combined with its location,generates a map. By use of the previously described variables, thefollowing maps will be generated:

(1) Spatial location of the endocardium;

(2) Sinus rhythm activation map (isochronous map);

(3) Diastolic potential occurrence time isochronal map for sinus rhythmmapping;

(4) Correlation map for pace mapping;

(5) Local latency isochronal map during pace mapping;

(6) Activation time isochronal map during VT; and

(7) Pre-potential isochronal map during VT mapping.

Also, the sites where VT was terminated by a non-captured prematurestimulus will be presented.

At each stage (sinus rhythm mapping, pace mapping and VT mapping) aftereach data point is acquired, all available information is reassessed fortwo purposes: first, to suggest to the operator the next site for dataacquisition, and second, to test the available information to propose asite for ablation.

Two algorithms are running simultaneously to perform this procedure:

(1) Mapping guidance algorithm (see Evaluate Activation Map (17) in FIG.2 and Evaluate Auto-Correlation Map (3a) in FIG. 3). This algorithm usesas an input the available mapped information of a certain variable(e.g., local activation time during sinus rhythm). The algorithmcalculates the spatial derivative of the mapped variable (i.e.,activation time in this example) and calculates the next best locationfor adding another data point when the objective function isregularizing the spatial gradients of the mapped variable. For example,this algorithm will suggest that more data points be acquired in areasin which the mapped variable is changing significantly over a shortdistance.

The location suggested by the algorithm will be presented to theoperator as a symbol on the display. The same display already shows thebasic image of the heart chamber and the current location of themapping/ablation catheter. Therefore, the operator will move themapping/ablation catheter to reach the suggested location for furtherdata acquisition.

This algorithm will become most beneficial during VT mapping, where theavailable time for data acquisition is limited by the adversehemodynamic effects of the arrhythmia. Therefore, such an algorithmwhich examines the available data points of a map in real-time andimmediately suggests the next site for acquisition is greatly needed.

(2) Prognosing likelihood of successful ablation algorithm. Thisalgorithm is a user-defined set of hierarchical rules for evaluating theacquired information. The operator is expected to grade the importanceof the specific information acquired in the mapping/ablation procedure,as to its likelihood to identify the correct site for ablation. Anexample of such an algorithm is described in the following section.

Grading of mapping results suggesting the likelihood of successfulablation at that site (A=highly likely successful and D=least likelysuccessful):

(a) The identification of a typical re-entrant pathway on VT mappingwith an identifiable common slow pathway--Grade A;

(b) The identification of a site with over 90% correlation index in thepace map--Grade B;

(c) The identification of a site where VT was terminated with anon-capture premature stimulus--Grade C; and

(d) The identification of pre-potential maps recorded during VT, whichare similar to diastolic potential maps recorded during sinusrhythm--Grade D.

4. Integrated (Image and Electrical) Processor and Display

The output device will use a computer screen or a holographic imagingunit that will be updated on a beat-by-beat base. The output willinclude the following information: superimposed on the basic image theposition of the catheter will be represented as a symbol on theventricular wall. The maps will be plotted and overlaid on the sameimage.

The output device at the mode of guided map acquisition would mark onthe ventricular wall image the next best place to position the catheterto acquire ECG information based on the results of the previousanalysis.

5. Locatable Catheter Mapping and Ablation Catheters

The catheters used for mapping are critical to the invention. Thecatheters have a locatable, sensing and/or ablation tip. For locatingusing electromagnetic fields, locating of the catheter tip is achievedby an antenna disposed at the catheter tip, with an antenna feed guidedin or along the catheter. An electrical antenna (dipole) or a magneticantenna (loop) can be used. The antenna can be operated as atransmission antenna or as a reception antenna, with the extracorporealantennas located at the skin surface correspondingly functioning asreception antennas or transmission antennas. Given multi-pathpropagation between the catheter tip and the external antennas, the pathbetween the relevant antennas can be calculated by a suitablemulti-frequency or broadband technique. It is also possible to employthe locating method using acoustic waves. The problem of the contrast ofthe biological tissue is significantly less critical when acoustic wavesare used than in the electromagnetic embodiment. The problem ofmulti-path propagation in the case of acoustic waves, however, will begreater for this embodiment because of the lower attenuation offered bythe biological tissue. Both problems, however, can be solved asdescribed above in connection with the electromagnetic embodiment.

A ceramic or polymeric piezoelectric element can be used as the antennaat the catheter tip. Due to the high transmission signal amplitudes,operation of the catheter antenna as a reception antenna is preferredfor the case of acoustic locating. Because the transmission paths arereciprocal relative to each other, the locating results are equivalentgiven reversal of the transmission direction.

The sensor at the catheter tip is constructed with respect to theproperty to be sensed and the interaction with the locating field waves.For example, a metal electrode for conducting local electrical activitymay interact with locating techniques using electromagnetic waves. Thisproblem can be solved in the preferred embodiment by using compositematerial conductors.

The delivery port at the tip of the catheter is designed with respect tothe energy characteristic to be delivered. In the present embodiment thedelivery port is the sensing electrode and can function either as anelectrode for sensing electrical activity or an antenna to deliverradiofrequency energy to perform ablation of tissue in close contact tothe delivery port.

The invention can perhaps be better understood by making reference tothe drawings. FIG. 1 is a schematic block diagram for illustrating theacquisition of the basic image. Using a transesophageal echocardiograph(1) in the preferred embodiment, a multiplane image of the heartchambers is acquired prior to the mapping study. The image is acquiredonly during a fiducial point in time during the cardiac cycle. In thepreferred embodiment the image is acquired at end-diastole (2). Athree-dimensional image of the heart chambers is reconstructedindicating the endocardial morphology and the location of the referencecatheters within the heart chamber (3).

FIG. 2 is a schematic block diagram for illustrating the computerizedendocardial activation mapping algorithm (used during sinus rhythmmapping and during ventricular tachycardia mapping). A visible oraudible indicator indicates the beginning of a data point acquisition(4). Data is acquired for each point in the map from two sources. Thecatheter is in steady and stable contact with the endocardium. Themapping catheter tip is localized (5). The localization of the cathetertip involves the localization of the three reference catheters (7). Alllocating signals are synchronized to end-diastole (8). Thetransformation of the three reference catheters relative to theiroriginal location in the basic image is calculated (9), and thetransformation values in the X,Y, and Z as well as the three orientationmovements are applied to the measured location of the mapping/ablationcatheter (10), the correction of which yields the location of themapping/ablation catheter with respect to the basic image (11).Electrical activation acquired with the mapping/ablation catheter tip isanalyzed in the electrophysiologic signal processor (6). The localelectrogram (12), after being filtered, is analyzed to detect the localactivation (14) (by one or more of the techniques for amplitude, slope,and template fitting, or by manual detection by the user). The intervalelapsed from previous end-diastole to the present local activation isthe local activation time (T, 15). The association of the location ofthe sensor with the activation time generates a single data point forthe activation map (16). The process of data acquisition can beterminated by the user, or can be evaluated by the "evaluate activationmap" algorithm (17) that examines the already acquired activation mapfor the density of information relative to the spatial gradient ofactivation times. This algorithm can indicate the next preferable sitefor activation time detection (18). The catheter should be moved by theuser to the new site, and the process of mapping continues.

During VT a data point is determined about every 4 to 6 beats. Thus,approximately 15 to 25, typically about 20, data points can bedetermined each minute. This factor, in combination with the remainderof the system described herein, permits faster mapping.

FIG. 3 is a schematic block diagram for illustrating the computerizedpace mapping algorithm. A visible or audible indicator indicates thebeginning of a data point acquisition (20). Data is acquired for eachpoint in the map from two sources. The mapping/ablation catheter is insteady and stable contact with the endocardium, and the mapping/ablationcatheter tip is localized (21). The localization of the catheter tipinvolves the localization of the three reference catheters (22). Alllocating signals are synchronized to end-diastole (23). Thetransformation of the three reference catheters relative to theiroriginal location in the basic image is calculated (24), and thetransformation values in the X,Y, and Z as well as the three orientationmovements are applied to the measured location of the mapping catheter(25), the correction of which yields the location of themapping/ablation catheter with respect to the basic image (26). Bodysurface ECG acquired is analyzed in the electrophysiologic signalprocessor (22) according to the pace mapping algorithm. The associationof the location of the pacing electrode with the cross-correlation index(ACI, 28) of that site yields a single data point of the pace map (29).The process of data acquisition can be terminated by the user, or can beevaluated by the "evaluate pace map" algorithm (30) that examines thealready acquired activation map for the density of information relativeto the spatial gradient of cross-correlation index, as well as thepresence of circumscribed maxima points in the map. This algorithm canindicate the next preferable site for pacing (31). The catheter shouldbe moved by the user to the new site, pace the heart from that new siteand calculate the associated cross-correlation index.

FIG. 4 is a schematic block diagram for illustrating the output deviceconfiguration (45) of the present embodiment. A quasi-static picture ofthe heart chambers (40) is presented as 3-D reconstruction of a basicimage (41) acquired prior to or during the study. Superimposed on theimage (40) will be the location of the mapping/ablation catheter (42),locations of the reference catheters (43), and the current and previousinformation acquired from the mapping study (44). This information mayinclude, when appropriate, the activation times (presented using a colorcode at each acquisition site) or cross-correlation index for each pointin the pace map. Furthermore, the map can represent in the color codingthe duration of the local electrograms, the presence of fragmentedactivity as well as various other variables calculated by theelectrophysiologic processor.

FIG. 5 is a schematic block diagram illustrating the instrument whilebeing used for VT mapping. As shown, a catheter (51) is introduced intothe heart chamber (52) in the body of a patient. The catheter (51) hasan antenna (53) at its tip, which is supplied with energy by atransmitter (54). The transmitting antenna (53) may be, for example, adipole. The receiver (55) is provided for locating the position of thetip (53). A receiver (55) receives the electromagnetic waves generatedby the antenna (53) by means of a plurality of receiving antennae (58a,58b, and 58c) placed on the body surface (57) of the patient. A sensor(59) placed on the catheter tip receives local electrical activity ofthe heart chamber muscle. The signals from the sensor electrode (59) aresupplied to an electrophysiologic signal processor (60) which calculatesthe local activation time delay by subtracting the absolute localactivation time from the absolute reference time measured from the bodysurface electrogram (61) of the present heart cycle. A display (66)permits visual portrayal of the local activation times at the locationof the catheter tip as described earlier, for example, bysuperimposition with an ultrasound image showing the heart chamberarchitecture. The signals from the receiver (55) and output ofelectrophysiologic signal processor (60) are supplied to a signalprocessor (69) which constructs an image of the activation time map.

Information regarding the heart chamber architecture is supplied to thesignal processor (69) via a separate input (70). The images aresuperimposed and are portrayed on the display (66). As noted above, thetransmitter and receiver may be an ultrasound transmitter or receiver,instead of electromagnetically operating devices.

FIG. 6 is a schematic block diagram illustrating the instrument whilebeing used for pace mapping. The methods for locating catheter tips usedin this example are similar to those represented by FIG. 5. Pacing poles(81) are placed on the catheter tip and are connected to a pacemaker(82) source. The pacemaker source activated either by the user or by theelectrophysiologic signal processor (84), activates the heart startingat the site of contact of the heart and the pacing poles. Simultaneouslyacquired ECG (83) is saved and processed in the electrophysiologicsignal processor (84). Cross-correlation analysis is carried out in thesignal processor (84), and the resulting cross-correlation index (ACI)is transferred to the display unit and associated with the location ofthe catheter tip to be superimposed on the image of the heart chamber atthe appropriate location.

FIG. 7 is a schematic block diagram for illustrating the algorithm usedto calculate the cross-correlation index while pace mapping. Bodysurface ECG data is acquired at two stages. First, during spontaneous orpacing induced VT, and second during pacing the endocardium at differentsites. The ECG data acquired during VT are signal averaged, and atemplate is constructed (T_(ch), for each channel recorded). Duringendocardial pacing the ECG data is acquired, and the same number ofbeats (N) is acquired to calculate the signal averaged QRS (P_(ch), foreach channel recorded). The algorithm then calculates the phase shiftbetween P_(ch) and T_(ch), which yields for the first channel themaximal cross-correlation. This time shift is used to shift theremaining channels and calculate for them the cross-correlation. Allcross-correlations for all channels are summarized and stored. Thealgorithm then uses the next channel recorded to calculate the timeshift that will cause maximal cross-correlation in this channel. Nowthis time shift is applied for all cross-correlations between P_(ch) andT_(ch), and again all cross-correlations are summarized. This procedureis repeated for all channels, and the maximal cross-correlation achievedis used as the value of the cross-correlation of the T_(ch) and theP_(ch) at this site on the endocardium.

FIG. 8A is a schematic diagram illustrating a catheter (90) used formapping arrhythmias. The distal catheter tip (91), as shown in FIG. 8Bhas a conducting material on its outer surface that is thesensing/pacing pole (92) connected to lead (93). In close proximity topole (92), but separated by insulating material (94), is pole (95),which comprises an annular conducting ring connected to lead (96). Thereceiver/transmitter antenna (97) of the locating device is placedinside the catheter tip (91), with at least two leads (98) and (99). Atleast four electrical connections corresponding to leads (93), (96),(98), and (99) exit the catheter: two for the two conducting poles ofthe sensing/pacing poles and at least two for the locating deviceantenna. This is shown in FIG. 8C.

Although a multitude of catheters (91) could also be used as referencecatheters, a catheter (not shown) having only the receiver/transmitterantenna with leads (98, 99) could function suitably. Also, amapping/ablation catheter (not shown) could be similar in structure tocatheter (90) with an additional lumen or structure or leads to conductor transmit ablation energy.

An alternative embodiment is shown in FIG. 9, wherein the antenna (101)is a receiving antenna. In this embodiment, the antenna (101) isconnected to a receiver (102), and the antennas (103a), (103b) and(103c) located at the body surface (57) are transmitting antennas. Thetransmitter (105) transmits signals to the transmitting antennas (103a),(103b), and (103c). Operation of the method is otherwise identical tothat described in connection with FIG. 5. The embodiment of FIG. 9 canbe operated as well using acoustic transmission and reception componentsinstead of electromagnetic transmission and reception components.

FIG. 10 describes a preferred embodiment of a method for properthree-dimensional correspondence of the catheter tip location and theheart chamber image. Three reference locatable catheters (110), (111),(112), as described in the previous sections of this disclosure areplaced in fixed positions in the heart, for example, the rightventricular apex, the right atrial appendage, and the pulmonary arteryat the level of the pulmonary valve, respectively. The operation methodis similar to that described earlier. The location of these threereference catheters is used by the signal processor (69) for properthree-dimensional correspondence of the heart chamber image and themapping catheter location.

In one embodiment of the invention the mapping procedure can proceed asfollows:

1. Insertion of more than two reference catheters (locatable) to fixedpositions in the heart.

2. Acquisition of a "basic image" by an imaging modality such asechocardiogram or MR imaging. Image acquired and 3-D reconstructed atend-diastole.

3. Insertion of mapping/ablation catheter (locatable) and positioning ofthe catheter in the area suspected by VT morphology to include the"active site."

4. Sinus rhythm mapping to construct sinus rhythm activation maps anddiastolic potential isochronal maps.

5. Pace Mapping:

(a) Construction of ACI map.

(b) Construction of local latency map.

6. VT Mapping

(a) Activation mapping: Construction of activation map during VT.

(b) Pre-potential isochronal map.

(c) Extrastimuli pacing during VT.

7. Ablation

(a) Detection of optimal location of ablation from the data acquiredwith the above mapping.

(b) Positioning the mapping/ablation catheter on top of the endocardialsite;

(c) Measuring systolic contractile function at that site;

(d) Delivering ablative energy to the preferred site;

(e) Repeating step (c)

As can be appreciated, the overall mapping procedure to determine an"active site" is complex and includes several stages, none of which ismandatory. Dependent upon the results obtained in each stage, mappingmay continue.

Specific aspects of the procedure can be performed in the followingsequence:

Through a percutaneous venous access three reference catheters areintroduced into the heart and/or the large vessels. The three referencecatheters are positioned so that the respective distal tips are at least2 cm, preferably 4 to 8 cm, apart. Next, A 3-D image of the chamber ofinterest is reconstructed using, for example, transesophegealultrasonography. Then, the locations of the distal tips of the referencecatheters are marked.

Through another vascular access port a mapping/ablation catheter isintroduced to the area of interest, and then the location of its distaltip as well as the sensed electrical activity are recorded. The locationof the mapping/ablation catheter is measured relative to the location ofthe reference catheters.

In a modified embodiment of this invention the map previously describedcan be superimposed on the mapped organ image.

Once the operator identified an active site, the mapping/ablationcatheter is positioned so that the active site can be ablated. Theablation is performed by radiofrequency energy. Other known methodscould be used instead (e.g., laser, cryotherapy, microwave, etc.).

Although modifications and changes may be suggested by those skilled inthe art, it is the intention of the inventor to embody within the patentwarranted hereon all changes and modifications as reasonably andproperly come within the scope of their contribution to the art.

I claim:
 1. A method for intrabody mapping, which comprises the stepsof:(a) positioning the distal tip of each of one or more catheters at asite adjacent to or within an organ or bodily structure; (b) sensinglocation information at the site using a non-ionizing field; (c) sensinglocal information at the site; (d) processing sensed information fromsteps (b) and (c) to create one or more data points; (e) repeating steps(a), (b), (c), and (d) one or more times to create sufficient datapoints for a map; and (f) transmitting said data points from step (e) toa receiving means.
 2. A method for intrabody mapping, which comprisesthe steps of:(a) positioning the distal tip of each of one or morecatheters at a site adjacent to or within an organ or bodily structure;(b) sensing location information at the site; (c) sensing localinformation at the site; (d) processing sensed information from steps(b) and (c) to create one or more data points; (e) repeating steps (a),(b), (c), and (d) one or more times to create sufficient data points fora map.
 3. The method of claim 2 which comprises an additional step (f)wherein said data points or said map is transmitted to receiving means.4. The method of claim 3 which comprises a further step (g) wherein saiddata points or said map received by receiving means is projected onto animage receiving means.
 5. The method of claim 4 which comprises a yetfurther step (h) wherein the location of a catheter distal tip issuperimposed on said projected map or data points on said imagereceiving means.
 6. A method for intrabody mapping, which comprises thesteps of:(a) obtaining a perspective image of an organ or bodilystructure; (b) positioning the distal tip of each of one or morecatheters at a site adjacent to or within an organ or bodily structure;(c) sensing location information at the site; (d) sensing localinformation at the site; (e) processing sensed information from steps(c) and (d) to create one or more data points; (f) repeating steps (b),(c), (d), and (e) one or more times to create sufficient data points fora map; and (g) superimposing said data points from steps (e) and (f) onthe perspective image of the organ or bodily structure.
 7. The method ofclaim 6 which comprises an additional step (h) wherein said data pointsand said perspective image are transmitted to receiving means.
 8. Themethod of claim 7 which comprises a further step (i) wherein thelocation of a mapping/ablation catheter distal tip is superimposed onthe perspective image of the organ or bodily structure.
 9. The method ofclaim 7 which comprises a further step (i) wherein said data points andsaid perspective image received by receiving means are projected onto animage receiving means.
 10. The method of claim 9 which comprises a yetfurther step (j) wherein the location of a mapping/ablation catheterdistal tip is superimposed on said projected data points and saidperspective image on said image receiving means.
 11. A method forintrabody mapping, which comprises the steps of:(a) positioning thedistal tip of each of one or more reference catheters at a site adjacentto or within an organ or bodily structure; (b) positioning the distaltip of each of one or more mapping/ablation catheters at a site adjacentto or within an organ or bodily structure; (c) sensing locationinformation at each site; (d) sensing local information at a site witheach mapping/ablation catheter distal tip; (e) processing sensedinformation from steps (c) and (d) to create one or more data points;and (f) repeating steps (b), (c), (d), and (e) one or more times tocreate sufficient data points for a map.
 12. The method of claim 11which comprises an additional step (g) wherein said data points or saidmap is transmitted to receiving means.
 13. The method of claim 12 whichcomprises a further step (h) wherein said data points or said mapreceived by receiving means is projected onto an image receiving means.14. The method of claim 13 which comprises a yet further step (i)wherein the location of a mapping/ablation catheter distal tip issuperimposed on said projected data points or map on said imagereceiving means.
 15. A method for intrabody mapping, which comprises thesteps of:(a) positioning the distal tip of each of one or more referencecatheters at a site adjacent to or within an organ or bodily structure;(b) positioning the distal tip of each of one or more mapping/ablationcatheters at a site adjacent to or within an organ or bodily structure;(c) sensing location information at each site; (d) determining relativelocation of each mapping/ablation distal tip relative to referencecatheter distal tips; (e) sensing local information at a site with eachmapping/ablation catheter distal tip; (f) processing sensed informationfrom steps (d) and (e) to create one or more data points; and (g)repeating steps (b), (c), (d), (e), and (f) one or more times to createsufficient data points for a map.
 16. The method of claim 15 whichcomprises an additional step (h) wherein said data points or said map istransmitted to receiving means.
 17. The method of claim 16 whichcomprises a further step (i) wherein said data points or said mapreceived by receiving means is projected onto an image receiving means.18. The method of claim 17 which comprises a yet further step (j)wherein the location of a mapping/ablation catheter distal tip issuperimposed on said projected data points or map on said imagereceiving means.
 19. A method for intrabody mapping, which comprises thesteps of:(a) obtaining a perspective image of the organ or bodilystructure; (b) positioning the distal tip of each of one or morereference catheters at a site adjacent to or within an organ or bodilystructure; (c) positioning the distal tip of each of one or moremapping/ablation catheters at a site adjacent to or within an organ orbodily structure; (d) sensing location information at each site; (e)sensing local information at a site with each mapping/ablating catheterdistal tip; (f) processing sensed information from steps (d) and (e) tocreate one or more data points; (g) repeating steps (c), (d), (e), and(f) one or more times to create sufficient data points for a map; and(h) superimposing said data points or said map from steps (f) and (g) onthe perspective image of the organ or bodily structure.
 20. The methodof claim 19 which comprises an additional step (i) wherein said datapoints or map and said perspective image are transmitted to receivingmeans.
 21. The method of claim 20 which comprises a further step (j)wherein said location of a mapping/ablation catheter distal tip issuperimposed on said data points or map and said perspective image ofthe organ or bodily structure.
 22. The method of claim 20 whichcomprises a further step (j) wherein said data points or map and saidperspective image received by receiving means are projected onto animage receiving means.
 23. The method of claim 22 which comprises a yetfurther step (k) wherein the location of a mapping/ablation catheterdistal tip is superimposed on said projected data points or map and saidperspective image on said image receiving means.
 24. A method forintrabody mapping, which comprises the steps of:(a) obtaining aperspective image of the organ or bodily structure; (b) positioning thedistal tip of each of one or more reference catheters at a site adjacentto or within an organ or bodily structure; (c) positioning the distaltip of each of one or more mapping/ablation catheters at a site adjacentto or within an organ or bodily structure; (d) sensing locationinformation at each site; (e) determining relative location of eachmapping/ablation catheter distal tip relative to reference catheterdistal tips; (f) sensing local information with each mapping/ablationcatheter distal tip; (g) processing sensed information from steps (e)and (f) to create one or more data points; (h) repeating steps (c), (d),(e), (f) and (g) one or more times to create sufficient data points fora map; and (i) superimposing said data points or said map from steps (g)and (h) on the perspective image of the organ or bodily structure. 25.The method of claim 24 which comprises an additional step (j) whereinsaid data points or map and said perspective image are transmitted toreceiving means.
 26. The method of claim 25 which comprises a furtherstep (k) wherein the location of a mapping/ablation catheter distal tipis superimposed on the perspective image of the organ or bodilystructure.
 27. The method of claim 25 which comprises a further step (k)wherein said data points or map and said perspective image received byreceiving means are projected onto an image receiving means.
 28. Themethod of claim 27 which comprises a yet further step (l) wherein thelocation of a mapping/ablation catheter distal tip is superimposed onsaid projected data points or map and said perspective image on saidimage receiving means.
 29. The method of claim 2, 6, 11, 15, 19, or 24,wherein sensing location information is achieved using a non-ionizingfield.
 30. An apparatus for intrabody mapping, which comprises:(a) meansfor positioning the distal tip of each of one or more catheters at asite adjacent to or within an organ or bodily structure; (b) means forsensing location information at the site using a non-ionizing field; (c)means for sensing local information at the site; (d) means forprocessing sensed information from means (b) and (c) to create one ormore data points; (e) means for repeating the functions of means (a),(b), (c), and (d) one or more times to create sufficient data points fora map; and (f) means for transmitting said data points from means (e) toa receiving means.
 31. An apparatus for intrabody mapping, whichcomprises:(a) means for positioning the distal tip of each of one ormore catheters at a site adjacent to or within an organ or bodilystructure; (b) means for sensing location information at the site; (c)means for sensing local information at the site; (d) means forprocessing sensed information from means (b) and (c) to create one ormore data points; and (e) means for repeating the functions of means(a), (b), (c), and (d) one or more times to create sufficient datapoints for a map.
 32. The apparatus of claim 31 which additionallycomprises means for transmitting said data points or said map toreceiving means.
 33. The apparatus of claim 32 which further comprisesmeans for projecting said data points or said map received by receivingmeans onto an image receiving means.
 34. The apparatus of claim 33 whichyet further comprises means for superimposing the location of a catheterdistal tip on said projected map or data points on said image receivingmeans.
 35. An apparatus for intrabody mapping, which comprises:(a) meansfor obtaining a perspective image of an organ or bodily structure; (b)means for positioning the distal tip of each of one or more catheters ata site adjacent to or within an organ or bodily structure; (c) means forsensing location information at the site; (d) means for sensing localinformation at the site; (e) means for processing sensed informationfrom means (c) and (d) to create one or more data points; (f) means forrepeating the functions of means (b), (c), (d), and (e) one or moretimes to create sufficient data points for a map; and (g) means forsuperimposing said data points from means (e) and (f) on the perspectiveimage of the organ or bodily structure.
 36. The apparatus of claim 35which additionally comprises means for transmitting said data points andsaid perspective image to receiving means.
 37. The apparatus of claim 36which further comprises means for superimposing the location of amapping/ablation catheter distal tip on the perspective image of theorgan or bodily structure.
 38. The apparatus of claim 36 which furthercomprises means for projecting said data points and said perspectiveimage received by receiving means onto an image receiving means.
 39. Theapparatus of claim 38 which yet further comprises means forsuperimposing the location of a mapping/ablation catheter distal tip onsaid projected data points and said perspective image on said imagereceiving means.
 40. An apparatus for intrabody mapping, whichcomprises:(a) means for positioning the distal tip of each of one ormore reference catheters at a site adjacent to or within an organ orbodily structure; (b) means for positioning the distal tip of each ofone or more mapping/ablation catheters at a site adjacent to or withinan organ or bodily structure; (c) means for sensing location informationat each site; (d) means for sensing local information at a site witheach mapping/ablation catheter distal tip; (e) means for processingsensed information from means (c) and (d) to create one or more datapoints; and (f) means for repeating the functions of means (b), (c),(d), and (e) one or more times to create sufficient data points for amap.
 41. The apparatus of claim 40 which additionally comprises meansfor transmitting said data points or said map to receiving means. 42.The apparatus of claim 41 which further comprises means for projectingsaid data points or said map received by receiving means onto an imagereceiving means.
 43. The apparatus of claim 42 which yet furthercomprises means for superimposing the location of a mapping/ablationcatheter distal tip on said projected data points or map on said imagereceiving means.
 44. An apparatus for intrabody mapping, whichcomprises:(a) means for positioning the distal tip of each of one ormore reference catheters at a site adjacent to or within an organ orbodily structure; (b) means for positioning the distal tip of each ofone or more mapping/ablation catheters at a site adjacent to or withinan organ or bodily structure; (c) means for sensing location informationat each site; (d) means for determining relative location of eachmapping/ablation distal tip relative to reference catheter distal tips;(e) means for sensing local information at a site with eachmapping/ablation catheter distal tip; (f) means for processing sensedinformation from means (d) and (e) to create one or more data points;and (g) means for repeating the functions of means (b), (c), (d), (e),and (f) one or more times to create sufficient data points for a map.45. The apparatus of claim 44 which additionally comprises means fortransmitting said data points or said map to receiving means.
 46. Theapparatus of claim 45 which further comprises means for projecting saiddata points or said map received by receiving means onto an imagereceiving means.
 47. The apparatus of claim 46 which yet furthercomprises means for superimposing the location of a mapping/ablationcatheter distal tip on said projected data points or map on said imagereceiving means.
 48. An apparatus for intrabody mapping, whichcomprises:(a) means for obtaining a perspective image of the organ orbodily structure; (b) means for positioning the distal tip of each ofone or more reference catheters at a site adjacent to or within an organor bodily structure; (c) means for positioning the distal tip of each ofone or more mapping/ablation catheters at a site adjacent to or withinan organ or bodily structure; (d) means for sensing location informationat each site; (e) means for sensing local information at a site witheach mapping/ablation catheter distal tip; (f) means for processingsensed information from means (d) and (e) to create one or more datapoints; (g) means for repeating the functions of means (c), (d), (e),and (f) one or more times to create sufficient data points for a map;and (h) means for superimposing said data points or said map from means(f) and (g) on the perspective image of the organ or bodily structure.49. The apparatus of claim 48 which additionally comprises means fortransmitting said data points or map and said perspective image toreceiving means.
 50. The apparatus of claim 49 which further comprisesmeans for superimposing said location of a mapping/ablation catheterdistal tip on said data points or map and said perspective image of theorgan or bodily structure.
 51. The apparatus of claim 49 which furthercomprises means for projecting said data points or map and saidperspective image received by receiving means onto an image receivingmeans.
 52. The apparatus of claim 51 which yet further comprises meansfor superimposing the location of a mapping/ablation catheter distal tipon said projected data points or map and said perspective image on saidimage receiving means.
 53. An apparatus for intrabody mapping, whichcomprises:(a) means for obtaining a perspective image of the organ orbodily structure; (b) means for positioning the distal tip of each ofone or more reference catheters at a site adjacent to or within an organor bodily structure; (c) means for positioning the distal tip of each ofone or more mapping/ablation catheters at a site adjacent to or withinan organ or bodily structure; (d) means for sensing location informationat each site; (e) means for determining relative location of eachmapping/ablation catheter distal tip relative to reference catheterdistal tips; (f) means for sensing local information with eachmapping/ablation catheter distal tip; (g) means for processing sensedinformation from means (e) and (f) to create one or more data points;(h) means for repeating the functions of means (c), (d), (e), (f) and(g) one or more times to create sufficient data points for a map; and(i) means for superimposing said data points or said map from means (g)and (h) on the perspective image of the organ or bodily structure. 54.The apparatus of claim 53 which additionally comprises means fortransmitting said data points or map and said perspective image toreceiving means.
 55. The apparatus of claim 54 which further comprisesmeans for superimposing the location of a mapping/ablation catheterdistal tip on the perspective image of the organ or bodily structure.56. The method of claim 54 which further comprises means for projectingsaid data points or map and said perspective image received by receivingmeans onto an image receiving means.
 57. The apparatus of claim 56 whichyet further comprises means for superimposing the location of amapping/ablation catheter distal tip on said projected data points ormap and said perspective image on said image receiving means.
 58. Theapparatus of claims 31, 35, 40, 44, 48, or 53, wherein locationinformation is sensed using a non-ionizing field.